CN117115365B - Reconstruction method and device for rapid refinement of special-shaped structure three-dimensional monomer model - Google Patents
Reconstruction method and device for rapid refinement of special-shaped structure three-dimensional monomer model Download PDFInfo
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Abstract
The invention provides a reconstruction method and a device for rapidly and finely reconstructing a three-dimensional monomer model with a special-shaped structure, which relate to the technical field of model reconstruction and comprise the following steps: acquiring attribute information corresponding to a special-shaped structure to be reconstructed; determining a normal acquisition area range and a supplementary acquisition area range corresponding to the special-shaped structure according to the attribute information; acquiring a first image data set corresponding to a normal acquisition area range acquired by handheld cradle head equipment; acquiring a second image data set corresponding to the supplementary acquisition area range acquired by the unmanned aerial vehicle equipment; and reconstructing the special-shaped structure by using the first image data set and the second image data set to obtain a three-dimensional monomer model corresponding to the special-shaped structure. The invention can flexibly, rapidly and delicately model urban architecture and special-shaped structure geographic entities in (natural, humane and historical) landscapes under various complex scenes.
Description
Technical Field
The invention relates to the technical field of model reconstruction, in particular to a reconstruction method and a device for rapidly and finely reconstructing a three-dimensional monomer model with a special-shaped structure.
Background
The ancient architecture of pavilion such as turrets, bridges and the like, the specialized marked architecture of urban rapid propulsion presentation, cultural relics and artistic sculptures are taken as important components of human histories and urban landscapes, generally have rich morals, embody advanced construction art of the prior people and have important scientific inspired value for modern construction skills. The artistic ornamental value is provided, and the artistic ornamental value is also provided with the souvenir of historical quotation and educational significance. However, as the building and sculpture are exposed to open environments for a long time, weather such as rain, snow, sand wind, high temperature and other external factors affect the appearance and structure of the building and sculpture, so that the protection and repair work of such special-shaped structural entities is becoming more and more important.
The three-dimensional model with the refined space appearance of the special-shaped structure is obtained by reverse reconstruction engineering with high precision, is a precondition and basis for management, research, utilization and repair work, and often faces great challenges in practical production and application due to the diverse appearance, the structure with rich details and the complex and changeable scene environment. At present, means for establishing a vivid, concrete and lifelike three-dimensional form expression model for ground object entities such as buildings and sculptures with special-shaped structures have certain limitations on the degree of model refinement, the integrity of complex scene data acquisition, the stability of project construction periods and the convenience of implementation operation.
Disclosure of Invention
In view of the above, the invention aims to provide a reconstruction method and a device for quickly and finely reconstructing a three-dimensional monomer model with a special-shaped structure, which can flexibly, quickly and finely model urban buildings and geographical entities with special-shaped structures in (natural, humane and historical) landscapes in various complex scenes.
In a first aspect, an embodiment of the present invention provides a method for quickly and finely reconstructing a three-dimensional monomer model with a special-shaped structure, including:
acquiring attribute information corresponding to a special-shaped structure to be reconstructed;
determining a normal acquisition area range and a supplementary acquisition area range corresponding to the special-shaped structure according to the attribute information;
acquiring a first image data set corresponding to the normal acquisition area range acquired by the handheld cradle head equipment; acquiring a second image data set corresponding to the supplementary acquisition area range acquired by the unmanned aerial vehicle equipment;
and reconstructing the special-shaped structure by using the first image data set and the second image data set to obtain a three-dimensional monomer model corresponding to the special-shaped structure.
In one embodiment, the attribute information includes entity height information, vegetation shade information, and terrain condition information; and determining a normal acquisition region range and a supplementary acquisition region range corresponding to the special-shaped structure according to the attribute information, wherein the step comprises the following steps:
Dividing the area where the special-shaped structure is located into a plurality of subareas;
for each subarea, determining a height value corresponding to the subarea based on the entity height information; determining a regional reachability score value corresponding to the subarea based on the vegetation shielding information and the topographic condition information;
judging whether the height value corresponding to the subarea meets a preset height threshold value or not, and judging whether the area accessibility score value corresponding to the subarea meets a preset score value condition or not;
if yes, dividing the subarea into a normal acquisition area range;
if not, the sub-region is divided into the supplementary acquisition region range.
In one embodiment, the step of determining whether the height value corresponding to the sub-region meets a preset height threshold, and determining whether the region reachability score value corresponding to the sub-region meets a preset score value condition includes:
if the height value corresponding to the subarea is lower than the extensible height limiting threshold of the handheld platform, determining that a preset height threshold is met; if the height value corresponding to the subarea is higher than the extensible height limiting threshold of the handheld platform, determining that the preset height threshold is not met;
If the regional reachability score value corresponding to the subregion is a first numerical value, determining that a preset score value condition is met; if the regional reachability score value corresponding to the subregion is a second numerical value, determining that the preset score value condition is not met; wherein the first value is used to indicate that the sub-region is reachable by the handheld platform and the second value is used to indicate that the sub-region is not reachable by the handheld platform.
In one embodiment, the step of acquiring the second image dataset corresponding to the supplementary acquisition region range acquired by the unmanned aerial vehicle device includes:
planning an unmanned aerial vehicle acquisition path according to the supplementary acquisition area range;
the unmanned aerial vehicle acquisition path is sent to an unmanned aerial vehicle platform or an unmanned aerial vehicle control end, so that unmanned aerial vehicle equipment is controlled through the unmanned aerial vehicle platform or the unmanned aerial vehicle control end, and close-up photogrammetry is carried out through encircling flight, so that a second image data set corresponding to the supplementary acquisition area range is obtained;
and receiving the second image data set acquired by the unmanned aerial vehicle device.
In one embodiment, the step of reconstructing the special-shaped structure by using the first image data set and the second image data set to obtain a three-dimensional monomer model corresponding to the special-shaped structure includes:
Performing joint space three-dimensional calculation on the first image data set and the second image data set, selecting a target connection point from the first image data set and the second image data set, and performing fusion correction processing on the target connection point to obtain a target image data set;
determining surface position information, geometric relation information and texture color information corresponding to the special-shaped structure according to the target image data set, and constructing an irregular triangular mesh surface model;
and mapping the texture color information to the irregular triangular mesh surface model to obtain a three-dimensional monomer model corresponding to the special-shaped structure.
In one embodiment, after the step of reconstructing the special-shaped structure by using the first image data set and the second image data set to obtain the three-dimensional monomer model corresponding to the special-shaped structure, the method further includes:
carrying out finishing treatment and fusion treatment on the three-dimensional monomer model to obtain a target three-dimensional monomer model corresponding to the special-shaped structure; the fine modification treatment comprises redundant part removal treatment, cavity and burr correction treatment and geographic position and direction adjustment treatment.
In a second aspect, an embodiment of the present invention further provides a device for quickly and finely reconstructing a three-dimensional monomer model with a special-shaped structure, including:
the information acquisition module is used for acquiring attribute information corresponding to the special-shaped structure to be reconstructed;
the range determining module is used for determining a normal acquisition area range and a supplementary acquisition area range corresponding to the special-shaped structure according to the attribute information;
the data acquisition module is used for acquiring a first image data set corresponding to the normal acquisition area range acquired by the handheld cradle head equipment; acquiring a second image data set corresponding to the supplementary acquisition area range acquired by the unmanned aerial vehicle equipment;
and the reconstruction module is used for reconstructing the special-shaped structure by utilizing the first image data set and the second image data set to obtain a three-dimensional monomer model corresponding to the special-shaped structure.
In one embodiment, the attribute information includes entity height information, vegetation shade information, and terrain condition information; the range determination module is further configured to:
dividing the area where the special-shaped structure is located into a plurality of subareas;
for each subarea, determining a height value corresponding to the subarea based on the entity height information; determining a regional reachability score value corresponding to the subarea based on the vegetation shielding information and the topographic condition information;
Judging whether the height value corresponding to the subarea meets a preset height threshold value or not, and judging whether the area accessibility score value corresponding to the subarea meets a preset score value condition or not;
if yes, dividing the subarea into a normal acquisition area range;
if not, the sub-region is divided into the supplementary acquisition region range.
In a third aspect, an embodiment of the present invention further provides an electronic device comprising a processor and a memory storing computer-executable instructions executable by the processor to implement the method of any one of the first aspects.
In a fourth aspect, embodiments of the present invention also provide a computer-readable storage medium storing computer-executable instructions which, when invoked and executed by a processor, cause the processor to implement the method of any one of the first aspects.
According to the reconstruction method and the device for the rapid refinement of the three-dimensional monomer model of the special-shaped structure, firstly, attribute information corresponding to the special-shaped structure to be reconstructed is obtained, so that a normal acquisition area range and a supplementary acquisition area range corresponding to the special-shaped structure are determined according to the attribute information; then, a first image data set corresponding to the normal acquisition area range acquired by the handheld cradle head equipment is acquired, and a second image data set corresponding to the supplementary acquisition area range acquired by the unmanned aerial vehicle equipment is acquired; and finally, reconstructing the special-shaped structure by using the first image data set and the second image data set to obtain a three-dimensional monomer model corresponding to the special-shaped structure. The method provides a rapid and refined reconstruction technology of the special-shaped three-dimensional monomer model by taking laser radar camera collection carried by a handheld cloud platform as a main part and taking a surrounding flight close to photography of an unmanned aerial vehicle as an auxiliary part, so that the special-shaped structure geographic entity in urban architecture and (natural, humanoid and historical) landscapes can be flexibly, rapidly and delicately modeled under various complex scenes.
Additional features and advantages of the invention will be set forth in the description which follows, and in part will be obvious from the description, or may be learned by practice of the invention. The objectives and other advantages of the invention will be realized and attained by the structure particularly pointed out in the written description and claims hereof as well as the appended drawings.
In order to make the above objects, features and advantages of the present invention more comprehensible, preferred embodiments accompanied with figures are described in detail below.
Drawings
In order to more clearly illustrate the embodiments of the present invention or the technical solutions in the prior art, the drawings that are needed in the description of the embodiments or the prior art will be briefly described, and it is obvious that the drawings in the description below are some embodiments of the present invention, and other drawings can be obtained according to the drawings without inventive effort for a person skilled in the art.
FIG. 1 is a schematic flow chart of a reconstruction method for quickly refining a three-dimensional monomer model with a special-shaped structure, which is provided by the embodiment of the invention;
FIG. 2 is a schematic flow chart of another reconstruction method for quickly refining a three-dimensional monomer model with a special-shaped structure, which is provided by the embodiment of the invention;
Fig. 3 is a schematic structural diagram of a reconstruction device for quickly refining a three-dimensional monomer model with a special-shaped structure according to an embodiment of the present invention;
fig. 4 is a schematic structural diagram of an electronic device according to an embodiment of the present invention.
Detailed Description
For the purpose of making the objects, technical solutions and advantages of the embodiments of the present invention more apparent, the technical solutions of the present invention will be clearly and completely described in conjunction with the embodiments, and it is apparent that the described embodiments are some embodiments of the present invention, but not all embodiments. All other embodiments, which can be made by those skilled in the art based on the embodiments of the invention without making any inventive effort, are intended to be within the scope of the invention.
At present, means for establishing a vivid, concrete and lifelike three-dimensional form expression model for special-shaped structures such as buildings, sculptures and other ground features have certain limitations on the degree of model refinement, the integrity of complex scene data acquisition, the stability of project construction periods and the convenience of implementation operation.
Through looking up papers, the main means of current realization are traditional manual modeling performance based on picture information, measurement technology based on unmanned aerial vehicle oblique photography and three-dimensional modeling technology based on laser scanning.
The traditional manual modeling performance based on the picture information is that geometric structures and field photos are acquired and obtained according to a manual field measurement mode, and manual modeling is carried out by combining with the existing CAD and other design drawings, and the modeling result in the mode has good aesthetic property, but lacks sense of reality, has large artificial subjectivity judgment, inaccurate geometric and texture information, large labor cost investment and long modeling period. The invention adopts a three-dimensional modeling technology with high automation degree, greatly improves project construction efficiency and cost performance, and carries out real texture mapping and high-precision geometric relation modeling.
Based on the unmanned aerial vehicle oblique photography measurement technology, aerial image data of 5 visual angles are obtained through an unmanned aerial vehicle platform, and information such as positions, textures, relations and the like is recorded. The method has the advantages of rapid modeling, small human intervention, advanced positioning technology, rich image information and accurate geographic information, but has the advantages of more scene application limiting factors, serious model detail loss, large project period variation and high professional requirements of personnel operation. Although the technology of manual field repair shooting, close-up photography, laser scanning and the like is combined for optimization, the difference of two sets of image data is large, the fusion processing difficulty is high, and the time consumption is long. The invention adopts a simpler acquisition mode, enriches the convenience of scene application and the detail structure of the model, and ensures that the project construction period is more stable.
The three-dimensional modeling technology based on laser scanning can rapidly, continuously and highly accurately acquire the surface position information, texture information and scene depth information of a target object in a scanning view field through reasonable station setting of field work. The three-dimensional model with accurate geometric information and photo realism can be effectively recovered through three-dimensional reconstruction processing, and the advantages are prominent in scenes with irregular shapes of ground features. However, the defects of a top view angle are lacking, the influence of topography limitation is large, loopholes are easy to appear in the scanning data block fusion processing, and the operation is complex and the personnel investment is large. The invention effectively reduces the limitation of scene application through a flexible and convenient acquisition mode and remedial measures, and can build a more complete exquisite three-dimensional model quickly and with low cost.
Based on the method, the device and the method for quickly and finely reconstructing the special-shaped three-dimensional monomer model can flexibly, quickly and finely model various complex scenes aiming at geographic entities of special-shaped structures in urban buildings and (natural, humane and historical) landscapes.
For the convenience of understanding the present embodiment, a detailed description will be first given of a reconstruction method for quickly refining a three-dimensional monomer model with a special-shaped structure disclosed in the present embodiment, referring to a schematic flow chart of a reconstruction method for quickly refining a three-dimensional monomer model with a special-shaped structure shown in fig. 1, the method mainly includes the following steps S102 to S108:
Step S102, obtaining attribute information corresponding to the special-shaped structure to be reconstructed. The attribute information comprises entity height information, vegetation shielding information, terrain condition information, flight space information and the like. In one embodiment, the on-site survey route can be reasonably planned according to factors such as weather and traffic and the like and according to the conditions of a navigation map, remote sensing images and accessibility of a site road, and on-site observation is performed through a portable measuring tool or a reference object such as visual inspection, a scale and the like, and attribute information such as the height of a single special-shaped structure entity, the shielding condition of peripheral vegetation, the size of a flying space, the topography condition and the like is recorded.
Step S104, determining a normal acquisition area range and a supplementary acquisition area range corresponding to the special-shaped structure according to the attribute information. The normal acquisition area range is the area range acquired by using the handheld cradle head equipment, and the supplementary acquisition area range is the area range acquired by using the unmanned aerial vehicle equipment. In one embodiment, attribute information such as the height of the special-shaped structure body, shielding conditions of peripheral vegetation, the size of a flying space, terrain conditions and the like can be compared and analyzed with height data and field environments obtained by three-dimensional measurement of interior collection and aviation modeling, so that a normal collection area range and a supplementary collection area range are determined.
Step S106, a first image data set corresponding to a normal acquisition area range acquired by handheld cradle head equipment is acquired; and acquiring a second image data set corresponding to the supplementary acquisition area range acquired by the unmanned aerial vehicle equipment. In one embodiment, for a normal acquisition area range, a laser radar camera can be carried based on a handheld cradle head, weather and illumination conditions and project resolution and precision requirements are combined, and acquisition sensor equipment is flexibly selected according to actual task conditions so as to acquire a first image data set by using the sensor equipment; for the supplementary collection area scope, can go on simultaneously with the collection work of handheld cloud platform equipment, based on unmanned aerial vehicle platform, can plan in advance and encircle the route to large-scale entity, small-size entity or local area can be handheld remote control operation, carries out the close photogrammetry through encircling the flight to gather second image dataset.
And S108, reconstructing the special-shaped structure by using the first image data set and the second image data set to obtain a three-dimensional monomer model corresponding to the special-shaped structure. In one embodiment, the first image dataset and the second image dataset may be imported into three-dimensional modeling software, so that the three-dimensional modeling software is utilized to perform fusion processing on the first image dataset and the second image dataset, and a three-dimensional monomer model corresponding to the special-shaped structure is obtained.
The method for quickly and finely reconstructing the special-shaped three-dimensional monomer model provided by the embodiment of the invention is mainly based on the acquisition of a laser radar camera carried on a handheld cloud platform, and assisted by a quick and finely reconstructing technology of the special-shaped three-dimensional monomer model combined by surrounding flight close to photography of an unmanned aerial vehicle, so that special-shaped geographic entities in urban architecture and (natural, humane and historical) landscapes can be flexibly, quickly and finely modeled in various complex scenes.
In order to facilitate understanding, the embodiment of the invention provides a specific implementation mode of a reconstruction method for quickly and finely refining a three-dimensional monomer model with a special-shaped structure.
For the step S102, in order to obtain the attribute information corresponding to the special-shaped structure to be reconstructed, the on-site survey route may be reasonably planned according to the factors such as weather and traffic according to the project area range, and according to the navigation map, remote sensing image and the road accessibility condition of the site, the on-site observation may be performed by using a portable measuring tool such as visual inspection and scale or a reference object, and the attribute information such as the height of the single special-shaped structure, the shielding condition of surrounding vegetation, the size of flight space, and the topography condition may be recorded.
For the foregoing step S104, the embodiment of the present invention provides an implementation manner of determining, according to attribute information, a normal acquisition region range and a supplementary acquisition region range corresponding to a special-shaped structure, see the following steps A1 to A3:
And A1, dividing the area where the special-shaped structure is located into a plurality of subareas. In one example, the three-dimensional space in which the shaped structure is located may be divided to obtain a plurality of sub-regions.
Step A2, for each sub-region, determining a height value corresponding to the sub-region based on the entity height information; and determining a regional reachability score value corresponding to the subarea based on the vegetation shielding information and the terrain condition information. The regional reachability score value comprises a first value W1 and a second value W2, wherein the first value W1 is used for representing that the handheld platform can reach the subarea, and the second value W2 is used for representing that the handheld platform cannot reach the subarea. Specifically, the first value W1 indicates that a person may approach and be able to reach; the second value W2 indicates that the person cannot approach and cannot reach (limited conditions include large relief, limited water area, limited vegetation such as greening, narrow space, suspension, etc.).
Step A3, judging whether the height value corresponding to the subarea meets a preset height threshold value or not, and judging whether the area accessibility score value corresponding to the subarea meets a preset score value condition or not; if yes, dividing the subarea into a normal acquisition area range; if not, the sub-region is divided into the supplementary acquisition region range. In one example, the method can be compared and analyzed with height data and field environments obtained by three-dimensional measurement of interior collection and aviation modeling, and the condition judgment P is carried out by combining an extensible height limiting threshold H of a handheld platform and the condition W of whether personnel can reach, so that the topography fluctuation is small, the personnel can reach, and the model height is smaller than the normal acquisition area range Q1 of H; in other cases, the handheld cradle head device cannot acquire or acquires the supplementary acquisition region range Q2 which is not fully needed to be subjected to unmanned aerial vehicle ring flight close to supplementary shooting. The extensible height limiting threshold H of the handheld platform is a fixed threshold and is related to the specification parameters of the handheld cradle head; the condition judges P, namely the altitude value and the regional reachability score value.
Further, the height data and the field environment can be obtained through design data, specification materials and the like during park construction; and the method can also be obtained by using a three-dimensional measurement software tool according to the result of three-dimensional modeling after the inclined aviation.
In one embodiment, it may be determined whether the preset height threshold and preset score value conditions are met as follows:
if the height value corresponding to the subarea is lower than the extensible height limiting threshold of the handheld platform, determining that the preset height threshold is met; if the height value corresponding to the subarea is higher than the extensible height limiting threshold of the handheld platform, determining that the preset height threshold is not met;
secondly, if the regional accessibility score value corresponding to the subarea is a first numerical value, determining that a preset score value condition is met; if the regional reachability score value corresponding to the subregion is a second numerical value, determining that the preset score value condition is not met; wherein the first value is used to indicate that the sub-area is reachable by the handset platform and the second value is used to indicate that the sub-area is not reachable by the handset platform.
For example, if the condition judges that the measured height H is less than or equal to H and the value of W is W1, the normal acquisition area range Q1 can be defined, that is, data acquisition can be performed by means of a handheld cradle head; otherwise, the supplementary acquisition area range Q2 is defined, namely, the unmanned aerial vehicle is required to fly close to photography supplementary shooting or internal bridging processing.
For the step S106, in order to obtain the first image data set corresponding to the normal acquisition area range acquired by the handheld cradle head device, the acquisition sensor device is flexibly selected and used for the normal acquisition area range Q1 based on the handheld cradle head carrying a laser radar camera (or a plurality of acquisition sensor devices such as a visible light camera and a mobile phone) in combination with weather and illumination conditions and project resolution and precision requirements according to actual task conditions. An operator rapidly and stably acquires a real first image data set D1 of a special-shaped structural entity by erecting portable handheld cradle head equipment and utilizing an auxiliary holding module which rotates and extends by 360 degrees and a cradle head module with a triaxial stability increasing system.
For the step S106, in order to obtain the second image data set corresponding to the supplementary collection area range collected by the unmanned aerial vehicle device, firstly, a collection path of the unmanned aerial vehicle is planned according to the supplementary collection area range; then, the unmanned aerial vehicle acquisition path is sent to an unmanned aerial vehicle platform or an unmanned aerial vehicle control end, so that unmanned aerial vehicle equipment is controlled through the unmanned aerial vehicle platform or the unmanned aerial vehicle control end, and close-up photogrammetry is carried out through encircling flight, and a second image data set corresponding to the range of the supplementary acquisition area is obtained; and finally, receiving a second image data set acquired by the unmanned aerial vehicle equipment.
In specific implementation, the supplementary acquisition region range Q2 is synchronously performed with the acquisition work of the handheld cradle head device, a surrounding route can be planned in advance for a large entity based on the unmanned aerial vehicle platform, a small entity or a local region can be manually operated in a remote control manner, the photographing measurement is carried out by surrounding flight, and a second image data set D2 with a supplementary view angle is acquired from different distances of far, middle and near and 360 degrees overlooking and looking up.
For the foregoing step S108, the embodiment of the present invention provides an implementation manner of reconstructing a special-shaped structure by using a first image data set and a second image data set to obtain a three-dimensional monomer model corresponding to the special-shaped structure, which is described in the following steps B1 to B3:
and B1, performing joint space three-dimensional calculation on the first image data set and the second image data set, selecting a target connection point from the first image data set and the second image data set, and performing fusion correction processing on the target connection point to obtain the target image data set. In one example, the first image dataset D1 and the second image dataset D2 may be combined with three-dimensional modeling software (such as CC, aerial view, etc.) to perform joint space three-dimensional calculation, and select a connection point with clear characteristics and no shielding as fusion correction processing, so as to avoid the occurrence of problems such as layering of point cloud data.
And B2, determining surface position information, geometric relation information and texture color information corresponding to the special-shaped structure according to the target image data set, and constructing an irregular triangular mesh surface model. In one example, surface position information, texture information, scene depth information and accurate geometric relation information with abundant special-shaped structures are obtained through strict multi-view image matching algorithm calculation and indoor encryption. Specifically, texture color, space coordinates and geometric relation information of the point cloud pair can be obtained through calculation of an image pair matching and encryption algorithm built in three-dimensional modeling software.
And B3, mapping the texture color information to an irregular triangular net surface model to obtain a three-dimensional monomer model corresponding to the special-shaped structure. In one example, an irregular triangular Mesh surface model (white model) can be constructed through the oriented dense three-dimensional point cloud, and a three-dimensional refined Mesh model set (namely, a three-dimensional monomer model) of the target entity with enhanced sense of realism and rich details is obtained by utilizing a texture automatic association mapping technology. Specifically, a matching algorithm built in three-dimensional modeling software can be used for carrying out pixel matching and linking according to the space position and the spectrum color information.
In one embodiment, after the three-dimensional monomer model is determined, the three-dimensional monomer model may be further subjected to a finishing process and a fusion process, so as to obtain a target three-dimensional monomer model corresponding to the special-shaped structure, where the finishing process includes a redundant portion removing process, a void and burr correcting process, and a geographic position and direction adjusting process. In the concrete implementation, the generated three-dimensional refined Mesh model set of the target entity can be subjected to refinement treatment in a man-machine combination mode, redundant parts are removed, holes and burrs are corrected, the geographic position and direction are adjusted, and a three-dimensional single model result with a real, attractive and fine special-shaped structure in a real scene is formed through fusion treatment means such as flattening. For example, three-dimensional modeling modification software can be used for performing finishing operations such as deletion, hole digging, bridging repair and the like, and the finishing operations are built-in function keys; the adjustment of the model position can be realized by utilizing a three-dimensional transformation matrix formula or a software built-in translation function.
In summary, through thinking about construction of large-scale sculpture garden projects in a certain area, the embodiment of the invention provides a rapid and refined reconstruction technology of a special-shaped structure three-dimensional monomer model, which mainly takes laser radar camera collection carried by a handheld cloud platform and combines surrounding flight close photography of an unmanned aerial vehicle, and the invention ensures flexible, rapid and high-integrity data collection. The 360-degree extensible and rotatable auxiliary holding module of the handheld cloud platform and the ring fly close photographing technology are utilized, so that the image data acquisition view angle is enriched, the detail information with abundant multiple view angles can be acquired, and the complete entity appearance data can be flexibly and conveniently acquired; the device can be carried with various collection equipment and has finer model. By utilizing the handheld cloud platform cloud deck module, sensor equipment such as a carrying acquisition camera can be flexibly selected according to application scenes, the three-axis stability increasing function enables acquired image data to be good in continuity, high in stability and small in noise, extraction and matching of connection points are more accurate and higher in relevance when the three-dimensional resolution is achieved, supplementary visual angle images and internal bridging modification of measurement shooting are conveniently integrated, a more real and smooth special-shaped structure fine model is quickly created, and a flattening treatment means is combined, so that scene fusion results have rich detail textures, exquisite attractive structures and high-precision space geometric attributes.
The embodiment of the invention has at least the following characteristics:
(1) According to the embodiment of the invention, the laser radar camera is carried on the handheld cloud platform for data acquisition, and the unmanned aerial vehicle is assisted to carry out rapid fine reconstruction of the special-shaped structure three-dimensional monomer model in a mode of combining supplementary acquisition by surrounding flight close to photography, so that the problems of low efficiency, long period and high cost of the traditional manual modeling are effectively solved; the conventional laser radar has low scanning modeling flexibility, limited visual angle and large personnel investment; and the problems of strong measurement modeling specialization, more limited scene application factors and uncontrollable project period of the current oblique photography.
(2) The embodiment of the invention can more vividly, specifically and realistically construct the three-dimensional monomer model with real, attractive and fine special-shaped structure in the real scene, avoids the problems of model partial missing, model broken surface caused by incomplete image acquisition and the like caused by strong light reflection, and has the advantages of simple operation, quick fusion, high cost performance, short construction period and flexible and abundant application scene. The virtual roaming and panoramic browsing are supported under the three-dimensional model operating system, the virtual roaming and panoramic browsing are closer to the real appearance of the target entity, and the user can obtain quite true feeling.
In order to facilitate understanding, the embodiment of the present invention further provides an application example of a reconstruction method for quickly refining a three-dimensional monomer model with a special-shaped structure, and referring to a flow diagram of another reconstruction method for quickly refining a three-dimensional monomer model with a special-shaped structure shown in fig. 2, the method includes: step 1, on-site surveying; step 2, judging whether the supplementary shooting is needed; if yes, determining a supplementary acquisition area range, and executing the step 4; if not, determining a normal acquisition area range, and executing the step 3; step 3, collecting based on a handheld cradle head; step 4, based on unmanned plane platform ring fly close photography; step 5, joint three-dimensional modeling; and 6, modifying and fusing scenes.
The steps 1 to 6 are applied to large-scale sculpture garden projects in certain areas, in the process of constructing more than 100 sculptures with different sizes, different structures and complex surrounding space environments in the large-scale sculpture garden projects in certain areas, the sculptures are integrated into a scene from data acquisition to final modeling completion, and the total duration is about 2 weeks.
On the basis of the foregoing embodiment, the embodiment of the present invention provides a reconstruction device for rapid refinement of a three-dimensional monomer model with a special-shaped structure, referring to a schematic structural diagram of the reconstruction device for rapid refinement of a three-dimensional monomer model with a special-shaped structure shown in fig. 3, the device mainly includes the following parts:
The information acquisition module 502 is configured to acquire attribute information corresponding to a special-shaped structure to be reconstructed;
the range determining module 504 is configured to determine a normal acquisition area range and a supplementary acquisition area range corresponding to the special-shaped structure according to the attribute information;
the data acquisition module 506 is configured to acquire a first image data set corresponding to a normal acquisition area range acquired by the handheld cradle head device; acquiring a second image data set corresponding to the supplementary acquisition area range acquired by the unmanned aerial vehicle equipment;
the reconstruction module 508 is configured to reconstruct the special-shaped structure by using the first image dataset and the second image dataset, so as to obtain a three-dimensional monomer model corresponding to the special-shaped structure.
The device for quickly and finely reconstructing the special-shaped three-dimensional monomer model provided by the embodiment of the invention is mainly based on the acquisition of a laser radar camera carried on a handheld cloud platform, and assisted by a quick and finely reconstructing technology of the special-shaped three-dimensional monomer model combined by surrounding flight close to photography of an unmanned aerial vehicle, so that special-shaped geographic entities in urban architecture and (natural, humane and historical) landscapes can be flexibly, quickly and finely modeled in various complex scenes.
In one embodiment, the attribute information includes entity height information, vegetation shade information, and terrain condition information; the range determination module 504 is also configured to:
Dividing the area where the special-shaped structure is located into a plurality of subareas;
for each sub-region, determining a height value corresponding to the sub-region based on the entity height information; determining a regional reachability score value corresponding to the subarea based on vegetation shielding information and terrain condition information;
judging whether the height value corresponding to the subarea meets a preset height threshold value or not, and judging whether the area accessibility score value corresponding to the subarea meets a preset score value condition or not;
if yes, dividing the subarea into a normal acquisition area range;
if not, the sub-region is divided into the supplementary acquisition region range.
In one embodiment, the range determination module 504 is further configured to:
if the height value corresponding to the subarea is lower than the extensible height limiting threshold of the handheld platform, determining that the preset height threshold is met; if the height value corresponding to the subarea is higher than the extensible height limiting threshold of the handheld platform, determining that the preset height threshold is not met;
if the regional reachability score value corresponding to the subregion is a first numerical value, determining that a preset score value condition is met; if the regional reachability score value corresponding to the subregion is a second numerical value, determining that the preset score value condition is not met; wherein the first value is used to indicate that the sub-area is reachable by the handset platform and the second value is used to indicate that the sub-area is not reachable by the handset platform.
In one embodiment, the data acquisition module 506 is further configured to:
planning an unmanned aerial vehicle acquisition path according to the range of the supplementary acquisition area;
sending the unmanned aerial vehicle acquisition path to an unmanned aerial vehicle platform or an unmanned aerial vehicle control end so as to control unmanned aerial vehicle equipment through the unmanned aerial vehicle platform or the unmanned aerial vehicle control end, and performing close-up photogrammetry through encircling flight to obtain a second image data set corresponding to the range of the supplementary acquisition area;
and receiving a second image data set acquired by the unmanned aerial vehicle device.
In one embodiment, the reconstruction module 508 is further configured to:
performing joint space three-resolution on the first image data set and the second image data set, selecting a target connection point from the first image data set and the second image data set, and performing fusion correction processing on the target connection point to obtain a target image data set;
determining surface position information, geometric relation information and texture color information corresponding to the special-shaped structure according to the target image dataset, and constructing an irregular triangular mesh surface model;
and mapping the texture color information to an irregular triangular net surface model to obtain a three-dimensional monomer model corresponding to the special-shaped structure.
In one embodiment, the system further comprises a post-processing module for:
Carrying out finishing treatment and fusion treatment on the three-dimensional monomer model to obtain the representation of the target three-dimensional monomer model corresponding to the special-shaped structure in an actual scene; the finishing treatment comprises redundant part removal treatment, cavity and burr correction treatment and geographic position and direction adjustment treatment.
The device provided by the embodiment of the present invention has the same implementation principle and technical effects as those of the foregoing method embodiment, and for the sake of brevity, reference may be made to the corresponding content in the foregoing method embodiment where the device embodiment is not mentioned.
The embodiment of the invention provides electronic equipment, which comprises a processor and a storage device; the storage means has stored thereon a computer program which, when executed by the processor, performs the method of any of the embodiments described above.
Fig. 4 is a schematic structural diagram of an electronic device according to an embodiment of the present invention, where the electronic device 100 includes: a processor 60, a memory 61, a bus 62 and a communication interface 63, the processor 60, the communication interface 63 and the memory 61 being connected by the bus 62; the processor 60 is arranged to execute executable modules, such as computer programs, stored in the memory 61.
The memory 61 may include a high-speed random access memory (RAM, random Access Memory), and may further include a non-volatile memory (non-volatile memory), such as at least one magnetic disk memory. The communication connection between the system network element and at least one other network element is achieved via at least one communication interface 63 (which may be wired or wireless), and may use the internet, a wide area network, a local network, a metropolitan area network, etc.
Bus 62 may be an ISA bus, a PCI bus, an EISA bus, or the like. The buses may be classified as address buses, data buses, control buses, etc. For ease of illustration, only one bi-directional arrow is shown in FIG. 4, but not only one bus or type of bus.
The memory 61 is configured to store a program, and the processor 60 executes the program after receiving an execution instruction, and the method executed by the apparatus for flow defining disclosed in any of the foregoing embodiments of the present invention may be applied to the processor 60 or implemented by the processor 60.
The processor 60 may be an integrated circuit chip having signal processing capabilities. In implementation, the steps of the above method may be performed by integrated logic circuitry in hardware or instructions in software in the processor 60. The processor 60 may be a general-purpose processor, including a Central Processing Unit (CPU), a Network Processor (NP), and the like; but may also be a digital signal processor (Digital Signal Processing, DSP for short), application specific integrated circuit (Application Specific Integrated Circuit, ASIC for short), off-the-shelf programmable gate array (Field-Programmable Gate Array, FPGA for short), or other programmable logic device, discrete gate or transistor logic device, discrete hardware components. The disclosed methods, steps, and logic blocks in the embodiments of the present invention may be implemented or performed. A general purpose processor may be a microprocessor or the processor may be any conventional processor or the like. The steps of the method disclosed in connection with the embodiments of the present invention may be embodied directly in the execution of a hardware decoding processor, or in the execution of a combination of hardware and software modules in a decoding processor. The software modules may be located in a random access memory, flash memory, read only memory, programmable read only memory, or electrically erasable programmable memory, registers, etc. as well known in the art. The storage medium is located in a memory 61 and the processor 60 reads the information in the memory 61 and in combination with its hardware performs the steps of the method described above.
The computer program product of the readable storage medium provided by the embodiment of the present invention includes a computer readable storage medium storing a program code, where the program code includes instructions for executing the method described in the foregoing method embodiment, and the specific implementation may refer to the foregoing method embodiment and will not be described herein.
The functions, if implemented in the form of software functional units and sold or used as a stand-alone product, may be stored in a computer-readable storage medium. Based on this understanding, the technical solution of the present invention may be embodied essentially or in a part contributing to the prior art or in a part of the technical solution, in the form of a software product stored in a storage medium, comprising several instructions for causing a computer device (which may be a personal computer, a server, a network device, etc.) to perform all or part of the steps of the method according to the embodiments of the present invention. And the aforementioned storage medium includes: a U-disk, a removable hard disk, a Read-Only Memory (ROM), a random access Memory (RAM, random Access Memory), a magnetic disk, or an optical disk, or other various media capable of storing program codes.
Finally, it should be noted that: the above examples are only specific embodiments of the present invention, and are not intended to limit the scope of the present invention, but it should be understood by those skilled in the art that the present invention is not limited thereto, and that the present invention is described in detail with reference to the foregoing examples: any person skilled in the art may modify or easily conceive of the technical solution described in the foregoing embodiments, or perform equivalent substitution of some of the technical features, while remaining within the technical scope of the present disclosure; such modifications, changes or substitutions do not depart from the spirit and scope of the technical solutions of the embodiments of the present invention, and are intended to be included in the scope of the present invention. Therefore, the protection scope of the present invention shall be subject to the protection scope of the claims.
Claims (7)
1. A reconstruction method for rapidly and finely reconstructing a three-dimensional monomer model with a special-shaped structure is characterized by comprising the following steps:
acquiring attribute information corresponding to a special-shaped structure to be reconstructed;
determining a normal acquisition area range and a supplementary acquisition area range corresponding to the special-shaped structure according to the attribute information;
Acquiring a first image data set corresponding to the normal acquisition area range acquired by the handheld cradle head equipment; acquiring a second image data set corresponding to the supplementary acquisition area range acquired by the unmanned aerial vehicle equipment;
reconstructing the special-shaped structure by using the first image data set and the second image data set to obtain a three-dimensional monomer model corresponding to the special-shaped structure;
the attribute information comprises entity height information, vegetation shielding information and topography condition information; and determining a normal acquisition region range and a supplementary acquisition region range corresponding to the special-shaped structure according to the attribute information, wherein the step comprises the following steps:
dividing the area where the special-shaped structure is located into a plurality of subareas;
for each subarea, determining a height value corresponding to the subarea based on the entity height information; determining a regional reachability score value corresponding to the subarea based on the vegetation shielding information and the topographic condition information;
judging whether the height value corresponding to the subarea meets a preset height threshold value or not, and judging whether the area accessibility score value corresponding to the subarea meets a preset score value condition or not;
if yes, dividing the subarea into a normal acquisition area range;
If not, dividing the subarea into a supplementary acquisition area range;
the step of judging whether the height value corresponding to the subarea meets a preset height threshold value or not and judging whether the area accessibility score value corresponding to the subarea meets a preset score value condition or not comprises the following steps:
if the height value corresponding to the subarea is lower than the extensible height limiting threshold of the handheld platform, determining that a preset height threshold is met; if the height value corresponding to the subarea is higher than the extensible height limiting threshold of the handheld platform, determining that the preset height threshold is not met;
if the regional reachability score value corresponding to the subregion is a first numerical value, determining that a preset score value condition is met; if the regional reachability score value corresponding to the subregion is a second numerical value, determining that the preset score value condition is not met; wherein the first value is used to indicate that the sub-region is reachable by the handheld platform and the second value is used to indicate that the sub-region is not reachable by the handheld platform.
2. The method for quickly and finely reconstructing the three-dimensional monomer model with the special-shaped structure according to claim 1, wherein the step of acquiring the second image data set corresponding to the supplementary acquisition area range acquired by the unmanned aerial vehicle equipment comprises the following steps:
Planning an unmanned aerial vehicle acquisition path according to the supplementary acquisition area range;
the unmanned aerial vehicle acquisition path is sent to an unmanned aerial vehicle platform or an unmanned aerial vehicle control end, so that unmanned aerial vehicle equipment is controlled through the unmanned aerial vehicle platform or the unmanned aerial vehicle control end, and close-up photogrammetry is carried out through encircling flight, so that a second image data set corresponding to the supplementary acquisition area range is obtained;
and receiving the second image data set acquired by the unmanned aerial vehicle device.
3. The method for reconstructing the three-dimensional monomer model of the special-shaped structure according to claim 1, wherein the step of reconstructing the special-shaped structure by using the first image data set and the second image data set to obtain the three-dimensional monomer model corresponding to the special-shaped structure comprises the following steps:
performing joint space three-dimensional calculation on the first image data set and the second image data set, selecting a target connection point from the first image data set and the second image data set, and performing fusion correction processing on the target connection point to obtain a target image data set;
determining surface position information, geometric relation information and texture color information corresponding to the special-shaped structure according to the target image data set, and constructing an irregular triangular mesh surface model;
And mapping the texture color information to the irregular triangular mesh surface model to obtain a three-dimensional monomer model corresponding to the special-shaped structure.
4. The method for reconstructing a three-dimensional monomer model of a special-shaped structure according to claim 1, wherein after the step of reconstructing the special-shaped structure by using the first image data set and the second image data set to obtain the three-dimensional monomer model corresponding to the special-shaped structure, the method further comprises:
carrying out finishing treatment and fusion treatment on the three-dimensional monomer model to obtain a target three-dimensional monomer model corresponding to the special-shaped structure; the fine modification treatment comprises redundant part removal treatment, cavity and burr correction treatment and geographic position and direction adjustment treatment.
5. The utility model provides a reconstruction device that three-dimensional monomer model of dysmorphism structure is meticulous fast which characterized in that includes:
the information acquisition module is used for acquiring attribute information corresponding to the special-shaped structure to be reconstructed;
the range determining module is used for determining a normal acquisition area range and a supplementary acquisition area range corresponding to the special-shaped structure according to the attribute information;
the data acquisition module is used for acquiring a first image data set corresponding to the normal acquisition area range acquired by the handheld cradle head equipment; acquiring a second image data set corresponding to the supplementary acquisition area range acquired by the unmanned aerial vehicle equipment;
The reconstruction module is used for reconstructing the special-shaped structure by utilizing the first image data set and the second image data set to obtain a three-dimensional monomer model corresponding to the special-shaped structure;
the attribute information comprises entity height information, vegetation shielding information and topography condition information; the range determination module is further configured to:
dividing the area where the special-shaped structure is located into a plurality of subareas;
for each subarea, determining a height value corresponding to the subarea based on the entity height information; determining a regional reachability score value corresponding to the subarea based on the vegetation shielding information and the topographic condition information;
judging whether the height value corresponding to the subarea meets a preset height threshold value or not, and judging whether the area accessibility score value corresponding to the subarea meets a preset score value condition or not;
if yes, dividing the subarea into a normal acquisition area range;
if not, dividing the subarea into a supplementary acquisition area range;
the range determination module is further configured to:
if the height value corresponding to the subarea is lower than the extensible height limiting threshold of the handheld platform, determining that a preset height threshold is met; if the height value corresponding to the subarea is higher than the extensible height limiting threshold of the handheld platform, determining that the preset height threshold is not met;
If the regional reachability score value corresponding to the subregion is a first numerical value, determining that a preset score value condition is met; if the regional reachability score value corresponding to the subregion is a second numerical value, determining that the preset score value condition is not met; wherein the first value is used to indicate that the sub-region is reachable by the handheld platform and the second value is used to indicate that the sub-region is not reachable by the handheld platform.
6. An electronic device comprising a processor and a memory, the memory storing computer-executable instructions executable by the processor, the processor executing the computer-executable instructions to implement the method of any one of claims 1 to 4.
7. A computer readable storage medium storing computer executable instructions which, when invoked and executed by a processor, cause the processor to implement the method of any one of claims 1 to 4.
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